JP2014204793A - Body support tracking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a body support tracking device, which releases the fixture of a body part from being fixed on a placing part and which has a restriction mode of the movement of the placing part, to move the body part smoothly on the placing part during the restriction mode.SOLUTION: An end arm 5, which is attached to the leading end of a multi-joint arm and made movable, comprises: an arm folder 51 on which an arm A attached with equipment 55 is placed; and an electromagnet 52 attached below the arm folder 51. On a placed face 51B arranged above the electromagnet 52, there is arranged a soft plastic thin film 61 for reducing the sliding resistance between the placed face 51B and a placing face 57A as the lower face of a magnetic material 57 of the equipment 55. If the electromagnet 52 is not magnetized, the soft plastic thin film 61 reduces the sliding resistance when a doctor slides the arm A back and forth while the placing face 57A opposing the placed face 51B.

Description

  The present invention relates to a body support follower that supports a body part of an operator, and more specifically, an operation mode in which a placement part on which the body part is placed moves following the body part, and movement of the placement part. The present invention relates to a body support follower having an operation mode to be restricted.

  In work requiring precise manual work such as neurosurgery, a body support follow-up device that supports an operator's arm may be used. In such a body support follow-up device, when the operator wants to move the arm, the support portion that supports the arm moves following the arm, and when the operator wants to fix the arm, the support portion needs to be fixed. is there. Therefore, the arm is fixed to the support portion provided at the distal end of the movable articulated holding arm via a belt member so that the support portion follows the doctor's arm. It has been proposed to fix the support portion while prohibiting movement (see, for example, Patent Document 1).

  However, in the apparatus described in Patent Document 1, it is necessary to remove the belt member each time when removing the arm from the support portion in order to temporarily place an instrument such as tweezers on the work table or the like, and the operability is poor. On the other hand, by applying a force for urging the arm base upward to the articulated arm that supports the arm base (corresponding to the support part of Patent Document 1), the arm base is pressed from below the arm. It has also been proposed to move following the arm (see, for example, Patent Document 2). In this case, if the movement of the articulated arm is prohibited and the armrest is fixed, the arm can be placed on the armrest to perform an operation, and the arm can be easily detached from the armrest.

Japanese Patent Laid-Open No. 10-272163 JP 2009-291363 A

  However, in the apparatus of Patent Document 2, when the arm base is moved to follow the arm, the doctor's arm is always pressed upward by the arm base, and when the arm is moved downward, the arm is against the pressing force. The pressing force may interfere with smooth operation. Further, in Patent Document 2, it is proposed to detect the force applied from the arm to the armrest and release the braking by the brake, but immediately after the release, the doctor's arm is suddenly pressed by the armrest. It is necessary to suppress.

  Therefore, the applicant of the present application is provided with a fixing portion for fixing a doctor's arm on a mounting portion (corresponding to the supporting portion in Patent Document 1) supported movably by a supporting portion having a brake and balance mechanism. It is proposed to switch the mode as follows (Japanese Patent Application No. 2012-158125). In this application, when the operation mode is switched to the free mode, the arm is fixed to the mounting portion by the fixing portion, and the restriction on the movement of the mounting portion by the brake is released. For this reason, even if it does not apply so much force to the arm, the mounting portion moves following the arm. On the other hand, in the restriction mode, the fixation of the arm by the fixing part is released, and the movement of the placement part is restricted by the brake. For this reason, even if an arm is moved or it leaves | separates from a mounting part, the position of a mounting part is hold | maintained.

  However, in the technique of the application, when the operation mode is the restriction mode, the body part such as the arm can be freely moved including the separation from the placement part, but the body part remains on the placement part. There was room for further improvement in the ease of movement when we wanted to move a little. Further, Patent Document 2 also proposes to provide a fine movement mode in which the arm brake is moved little by little by controlling the powder brake or the like, but in that case, the necessary actuators and sensors increase, Control becomes complicated.

  Therefore, the present invention provides a body support follow-up device having a restriction mode in which the body part is fixed to the placement part and the movement of the placement part is restricted. The purpose was to allow the body part to move smoothly on the table.

  In the body support follow-up device of the present invention made to achieve the above object, the placement surface of the orthosis attached to the body part is placed on the placement surface of the placement portion, and the fixing portion is placed on the placement surface. Fix the mounting surface to the mounting surface. The placement unit is supported by a support unit that has at least one joint and bends at the joint so that the placement unit can be moved. The body is moved following the movement of the body part and the brace against the applied resistance. The brake limits the movement of the mounting portion by suppressing the bending of at least one of the joints of the support portion. In addition, since the fixing by the fixing unit is released by the following mode switching by the switching unit, the body part and the appliance can be easily detached from the mounting unit.

  That is, when the switching unit switches the operation mode to the free mode, the fixing by the fixing unit is performed, and the restriction on the movement of the mounting unit by the brake is released. For this reason, even if it does not apply so much force to the body part, the placing part moves following the body part and the appliance.

  On the other hand, when the switching means switches the operation mode to the restriction mode, the fixation by the fixing part is released, and the movement of the mounting part is restricted by the brake. For this reason, the operator can easily perform work while placing and moving the body part and the appliance on the placement unit, and removing the body part and the appliance from the placement unit. At this time, since a soft thin film is disposed between the mounting surface and the mounting surface, the sliding resistance acting between the mounting surface and the mounting surface is reduced. Is done. That is, since a soft thin film having a low shear strength is disposed between the hard mounting surface and the hard mounting surface, the friction coefficient between the mounting surface and the mounting surface is reduced. Thus, even when the body part and the brace are moved a little on the placement part, they can be moved smoothly. In addition, since the movement of the arm and the brace on the placement unit is not performed through control using an actuator or a sensor, it is possible to prevent the configuration and control of the apparatus from being complicated. .

  In addition, the said mounting part may have the inclined surface which guide | induces the mounting surface of the said appliance to the said mounting surface. In that case, also when arrange | positioning a body part in a mounting part, a mounting surface slips on an inclined surface and is drawn on a mounting surface, and operativity improves further.

  Moreover, in this invention, the said fixing | fixed part may be equipped with an electromagnet, a magnetic body may be attached to the mounting surface of the said brace, and the said thin film may be a nonmagnetic thin film. In that case, when the electromagnet is demagnetized and the fixation is released, the nonmagnetic thin film reduces the residual magnetic flux acting on the magnetic body attached to the mounting surface, thereby improving the responsiveness. Can be moved more smoothly.

It is a schematic diagram showing the body support follower of a 1st embodiment to which the present invention was applied. It is a perspective view showing the external appearance of the body support follower. It is a schematic diagram showing the structure of the terminal arm of the body support follower. It is a flowchart showing the control in the body support follow-up device. It is a state transition diagram showing the change of the operation mode according to the control. It is a perspective view showing the external appearance of the body support tracking device of a 2nd embodiment. It is a perspective view showing the external appearance of the body support follower of a 3rd embodiment. It is a schematic diagram showing the structure of the body support follower. It is a flowchart showing the control in the body support follow-up device. It is a state transition diagram showing the change of the operation mode according to the control. It is a schematic diagram showing the body support follower of a 4th embodiment to which the present invention is applied. It is a flowchart showing the control in the body support follow-up device. It is a state transition diagram showing the change of the operation mode according to the control. It is a flowchart showing control in the body support tracking device of a 5th embodiment to which the present invention is applied. It is a state transition diagram showing the change of the operation mode according to the control.

[First Embodiment (Configuration of Apparatus)]
Next, embodiments of the present invention will be described with reference to the drawings. In the following embodiments, a device for supporting an arm A (see FIG. 3) as a body part of a doctor as a worker performing an operation will be described. However, the body support follower of the present invention is a precision machine. In addition to the arm A, hands, fingers, feet, jaws, etc. may be supported.

  As schematically shown in FIG. 1 and shown in appearance in FIG. 2 (A), the body support follow-up device 1 of the first embodiment to which the present invention is applied includes an articulated arm 3, and the articulated arm 3. A distal arm 5 attached to the distal end and a mode determination computer 7 for controlling them are provided. The multi-joint arm 3 is a moving mechanism that movably supports the end arm 5 in response to an external force acting on the end arm 5, and has five joints 31, 32, 33, 34, 35 and 5 degrees of freedom. It is configured. The joints 31 to 35 are all rotary joints.

  The multi-joint arm 3 includes a support portion 41 fixed to the floor F of the operating room, and the whole is supported by the support portion 41 as follows. That is, the shoulder portion 42 is connected to the upper end of the support portion 41 via the joint 31 so as to be rotatable around the vertical axis. Further, the joint 31 is provided with a brake 31A including an electromagnetic brake that suppresses the rotation of the support portion 41 and the shoulder portion 42 in the joint 31.

  As shown in FIG. 2A, the support portion 41 is configured to be easily movable on the floor F by a caster 41A. The caster 41A is provided with a known stopper (not shown), and the support portion 41 can be fixedly arranged at a desired position on the floor F.

  As shown in FIG. 1, one end of the first arm portion 43 is connected to the upper end of the shoulder portion 42 via a joint 32 so as to be swingable about a horizontal axis. The first arm portion 43 is configured as a parallel link mechanism in which both ends of the two bars are maintained at regular intervals in the vertical direction, and one end of the upper bar is connected to the joint 32. One end of a second arm portion 44 configured as a similar parallel link mechanism is connected to the other end of the first arm portion 43 through a joint 33 so as to be swingable about a horizontal axis. The other end of the second arm portion 44 is connected to the end arm 5 via a joint 34 that can rotate around a horizontal axis and a joint 35 that has a rotation axis orthogonal to the joint 34.

  Similarly to the joint 31, the joints 32 and 33 are also provided with brakes 32A and 33A. Further, springs 46 and 47 are provided between the joint 33 and the first arm portion 43 and the second arm portion 44, and the first arm portion 43 extends through the joint 32 and has a counterweight 48 at that portion. Is provided. The springs 46 and 47 and the counterweight 48 balance the force applied to the end arm 5 and the articulated arm 3 when the doctor's arm A is placed on the end arm 5.

  That is, the urging force applied from the springs 46 and 47 and the counterweight 48 causes the weight of the terminal arm 5 including the electromagnet 52 (see FIG. 3) described later, the weight of the arm A, the weight of the device 55 described later, The end arm 5 is supported by balancing with the weight of the joint arm 3. It is ideal that the urging force is perfectly balanced with the respective weights, etc., but considering that the doctor's hand works from above the affected area of the patient, the distal arm 5 is moved upward in the safe direction. Is set to be energized with extremely weak force. Further, when the balance can be achieved only by the counterweight 48, the springs 46 and 47 may be omitted.

  Next, as shown in FIG. 3A, the appliance 55 includes a pair of bands 56 wound around the arm A and a magnetic body 57 attached to each band 56. The magnetic body 57 has a pair of disk-like portions 57B fixed directly to each band 56 and a rod-like portion 57C that connects the pair of disk-like portions 57B, and is placed on the opposite side of the arm A. The placement surface 57A is arranged on the same plane (see FIG. 3B). The brace 55 is attached to the arm A so that the magnetic body 57 is disposed below when the arm A is extended forward.

  As shown in FIGS. 2 (B) and 3 (B), the end arm 5 includes an arm folder 51 on which the arm A to which the appliance 55 is attached is placed, and an electromagnet attached below the arm folder 51. 52. As shown in FIG. 2B, a pair of electromagnets 52 are provided so as to face each disk-like portion 57B of the magnetic body 57. The arm folder 51 has an inclined surface 51A at a position sandwiching the electromagnet 52 from the left and right when viewed from the doctor, and the inclined surface 51A is disposed above the electromagnet 52 as shown in FIG. The mounting surface 51B is inclined so as to guide the mounting surface 57A of the appliance 55 into the mounting surface 51B. A soft plastic thin film 61 that reduces the sliding resistance between the placement surface 51B and the placement surface 57A is disposed on the placement surface 51B. The soft plastic thin film 61 is sterilized.

  For this reason, when the electromagnet 52 is excited while the doctor places the arm A on the arm folder 51 and the placement surface 57A faces the placement surface 51B, the end arm 5 is fixed to the arm A, and the arm Following the movement of A in various directions, up, down, left, right, and back, the articulated arm 3 is moved while being deformed. Further, when the electromagnet 52 is de-energized, the doctor can move the arm A freely. In particular, when the doctor slides the arm A back and forth with the placement surface 57A facing the placement surface 51B, the soft plastic thin film 61 reduces the sliding resistance, and the residual magnetic flux acting on the magnetic body 57. Also reduce.

  The mode determination computer 7 switches the excitation / non-excitation of the electromagnet 52 by controlling the drive circuit 79 connected to the power supply 78. Note that the mode determination computer 7 is housed in the support portion 41 shown in FIG. Further, as shown in FIGS. 1 and 2A, a stepping mode switching button 91 is connected to the mode determination computer 7 built in the support portion 41.

[First Embodiment (Processing and Effects)]
Next, as shown in FIG. 1, the mode determination computer 7 includes an electronic control circuit including a CPU 71, a ROM 72, and a RAM 73. When the body support follower 1 is turned on, a program stored in the ROM 72 is stored. Based on the above, the CPU 71 executes the following processing. Hereinafter, processing executed by the mode determination computer 7 will be described with reference to the flowchart of FIG.

  As shown in FIG. 4, in this process, first, in S0 (S represents a step: the same applies hereinafter), it is determined whether or not the mode switching button 91 is being operated (that is, whether or not it is stepped on). Is done. If the mode switching button 91 is being operated (S0: Y), the operation mode is set to the free mode in S3, and the process proceeds to S0 described above.

  In this free mode, it is assumed that the doctor is trying to move the end arm 5 to follow the arm A, and braking by the brakes 31A, 32A, 33A of the joints 31, 32, 33 is released (hereinafter, referred to as “free mode”). The electromagnet 52 is excited (hereinafter also referred to as magnetic force ON) together with the brakes of the respective axes. In this free mode, each axis brake is turned off and the magnetic force is turned on. Therefore, when the doctor moves the arm A, the end arm 5 moves following the arm A. In addition, as described above, the force applied to the arm A from the end arm 5 is extremely small, and the sliding resistance of the brakes 31A, 32A, 33A is also small, so that the doctor can end the arm A without applying much force to the arm A. The arm 5 can be moved following.

  On the other hand, when the mode switching button 91 is not being operated (S0: N), the operation mode is set to the lock mode in S5, and the process proceeds to S0 described above. In this lock mode, it is assumed that the doctor is fixing the position of the end arm 5 and placing the arm A on the end arm 5 to perform an operation. The brakes are braked by the brakes 31A, 32A, and 33A (each axis brake is ON), and the electromagnet 52 is not excited (magnetic force OFF). In this lock mode, since the brakes of each axis are turned on, even if the doctor removes the arm A from the end arm 5, the position of the end arm 5 is fixed. However, since the joints 34 and 35 have no brake, the angle of the end arm 5 can be freely adjusted. Further, by turning off the magnetic force, the doctor can perform a fine operation without restraining the hand including the arm A on the terminal arm 5.

  When the mode determination computer 7 executes the above processing, the operation mode of the body support follower 1 changes as follows. That is, as shown in FIG. 5, when the mode switching button 91 is depressed (S0: Y), the operation mode is set to the free mode only while the mode switching button 91 is depressed. In this free mode, each axis brake is OFF and the magnetic force is ON (S3). When the foot is released from the mode switching button 91 (S0: N), the operation mode is set to the lock mode (S5). In the lock mode, each axis brake is ON and the magnetic force is OFF.

  For this reason, the doctor can easily perform the work while placing the arm A and the appliance 55 on the arm folder 51 of the end arm 5 and moving them, and also remove the arm A and the appliance 55 from the end arm 5. Can do. Therefore, the doctor steps on the mode switching button 91 to move the end arm 5 to a desired position with the operation mode set to the free mode, and lifts the foot from the mode switching button 91 to fix the position of the end arm 5. And can perform fine surgery.

  Further, since the soft plastic thin film 61 is disposed between the placement surface 51B of the arm folder 51 and the placement surface 57A of the magnetic body 57, the space between the placement surface 51B and the placement surface 57A. The sliding resistance acting on is reduced. That is, since the soft plastic thin film 61 having a low shear strength is disposed between the hard placement surface 51B and the hard placement surface 57A, the space between the placement surface 51B and the placement surface 57A. The coefficient of friction decreases. For this reason, even when the doctor wants to move the arm A and the appliance 55 slightly on the arm folder 51, they can move them smoothly. In particular, in a surgery using a microscope, even if the arm A is moved a little, a large movement occurs in the surgical field, and thus the effect of finely adjusting the position of the arm A becomes more remarkable.

  Moreover, since the soft plastic thin film 61 is a non-magnetic thin film, a minute magnetic gap is formed between the electromagnet 52 and the magnetic body 57. For this reason, when the electromagnet 52 is demagnetized, the residual magnetic flux acting on the magnetic body 57 is reduced by the soft plastic thin film 61 to improve the response, and the arm A and the appliance 55 can be moved more smoothly.

  Further, since the movement of the arm A and the appliance 55 on the arm folder 51 is not performed through control using an actuator or a sensor, it is possible to prevent the configuration and control of the apparatus from being complicated. Can do. Furthermore, the arm folder 51 has an inclined surface 51 </ b> A that guides the placement surface 57 </ b> A of the appliance 55 to the placement surface 51 </ b> B disposed above the electromagnet 52. For this reason, even when the doctor places the arm A on the arm folder 51, the placement surface 57A slides on the inclined surface 51A and is guided onto the placement surface 51B, and the operability is further improved.

  When the operation mode is changed to the free mode after finely adjusting the positions of the arm A and the appliance 55 in the lock mode, the arm A and the appliance 55 are fixed to the arm folder 51 at the position after the fine adjustment. Further, in the present embodiment, as described above, simple control in which the operation mode is switched in accordance with the operation of the mode switching button 91 is adopted, so that there is less fear of malfunction and there is no complicated control, so the mode determination computer 7 can also be miniaturized.

[Second Embodiment]
In addition to the above, the configuration of the soft thin film may have various forms as follows. In the body support follow-up device 101 of the second embodiment shown in FIG. 6, the soft plastic thin film 61 is omitted, and instead, the entire articulated arm 3 and the end arm 5 are covered with a sterile drape 63 from above. In this embodiment, the soft plastic thin film 61 does not need to be specially provided, and the sterilized drape 63 used conventionally is used as the soft thin film, so that the configuration of the apparatus can be further simplified.

[Third Embodiment]
Moreover, the mode switch button 91 may be abbreviate | omitted like the body support tracking apparatus 201 of 3rd Embodiment which shows an external appearance in FIG. In this embodiment, as schematically shown in FIG. 8, the following sensors are provided, and the mode determination computer 7 automatically switches the operation mode based on the detection signals of the sensors. That is, as shown in FIG. 8, the joint 31 is provided with an encoder 31 </ b> B that detects the amount of rotation of the shoulder 42 with respect to the support portion 41. The joints 32 and 33 are also provided with encoders 32B and 33B in the same manner as the joint 31. The end arm 5 is connected to the joint 35 via a force sensor 45, and the force sensor 45 detects a triaxial force applied to the end arm 5 and a torque around the three axes.

  The mode determination computer 7 executes the processing shown in FIG. 9 based on the detection signals of these sensors, and switches the operation mode as follows. As shown in FIG. 9, in this process, first, in S1, the operation mode is set to the wait mode. This wait mode assumes a state in which the arm A is not placed on the end arm 5, and each joint 31, 32, 33 is braked by the brakes 31A, 32A, 33A (each axis brake is ON) The electromagnet 52 is not excited (magnetic force OFF). Therefore, in this wait mode, since the magnetic force is turned off, the doctor can easily place the arm A on the end arm 5 or remove the arm A from the end arm 5. Further, since each axis brake is ON, even if the doctor removes the arm A from the end arm 5, the position of the end arm 5 is fixed.

  In subsequent S2, the following determination is made based on the detection signal from the force sensor 45, so that it is determined whether or not the doctor is going to move the end arm 5 to follow his arm A.

  When the doctor attempts to positively move the end arm 5 to follow the arm A, the doctor first supports the arm A with his / her muscle and then applies force to the end arm 5 via the arm A. . In the description of this processing, the threshold value of the force applied to the end arm 5 in the former stage is F2, and the threshold value of the force applied to the end arm 5 in the latter stage is F1. That is, when the doctor tries to move the distal arm 5 following the arm A, first, the arm A is supported by its own muscle, so that the force applied to the distal arm 5 from above is F2 (for example, 1.0 kgf) or less. . When the doctor positively applies force to the end arm 5 via the arm A and moves the end arm 5 to follow, the end arm 5 has F1 (for example, the weight of the arm A when the end arm 5 is moved downward). 1.5 kgf, which is a guideline for the above: In the description of this process, this value is used for explanation.) More force is applied. Note that it is desirable that the F1 and F2 set in advance for this processing satisfy the relationship of the weight of the arm A ≧ F1> F2> 0.

  Therefore, in S2, the state where the force applied to the end arm 5 (tip) is 1.5 kgf (F1) or more, or the torque (Ty) applied to the end arm 5 is 10 kgcm or more corresponding to the F1, continues for 100 ms. It is determined whether or not. Note that the torque and duration are also numerical values given as an example in the present process, similar to F1, and can be changed to various values (the same applies to other numerical values). When the state does not continue for 100 ms (S2: N), the process waits at S2, and the operation mode is maintained in the wait mode set at S1. On the other hand, if the state continues for 100 ms (S2: Y), the doctor is trying to move the end arm 5 so that the process proceeds to S3, and the operation mode is set to the same free mode as in the first embodiment. Is set.

  In subsequent S4, based on whether or not the state where the speed of the distal arm 5 (tip) is 1 mm / s or less has continued for 100 ms, whether or not the doctor has finished moving the arm A and is also trying to fix the distal arm 5 to that position. Is judged. The speed of the end arm 5 is detected via each encoder 31B, 32B, 33B. If the state does not continue for 100 ms (S4: N), the process stands by in S4, and the operation mode is maintained in the free mode set in S3. On the other hand, if the state continues for 100 ms (S4: Y), the process proceeds to S5, and the operation mode is set to the same lock mode as in the first embodiment.

  In subsequent S6, whether or not the state where the force applied to the end arm 5 (tip) is 1.0 kgf (F2) or less or the torque applied to the end arm 5 is 5.0 kgcm or less corresponding to F2 is continued for 200 ms. Is judged. If the state has not continued for 200 ms (S6: N), the process waits at S6 to maintain the operation mode in the lock mode set at S5. On the other hand, when the state continues for 200 ms (S6: Y), the process proceeds to S1 described above, and the operation mode is set to the wait mode.

  Here, as described above, the state where the force applied to the end arm 5 is equal to or less than F2 is a state that suggests that the doctor supported the arm A with his / her muscles while trying to move the arm A. A similar situation occurs when attempting to remove arm A from end arm 5. In the former case, an affirmative determination is immediately made in S2 thereafter, and the process proceeds to S3. In the latter case, a negative determination is continued in S2, and the operation mode is maintained in the wait mode set in S1. Is done.

  When the mode determination computer 7 executes the above processing, the operation mode of the body support follower 1 changes as follows. That is, as shown in FIG. 10, when the operation mode is set to the wait mode (S1), each axis brake is turned on and the magnetic force is turned off. When the operation mode is set to the wait mode, when the force applied to the end arm 5 (tip) is 1.5 kgf (F1) or more or the torque is 10 kgcm or more continues for 100 ms (S2: Y), The operation mode is set to the free mode (S3).

  Then, when the operation mode is set to the free mode and the state where the speed of the end arm 5 (tip) is 1 mm / s or less continues for 100 ms (S4: Y), the operation mode is set to the lock mode ( S5). When the operation mode is set to the lock mode and the force applied to the end arm 5 (tip) is 1.0 kgf (F2) or less or the torque is 5.0 kgcm or less for 200 ms (S6: Y), The operation mode is set to the wait mode (S1).

  As described above, in this embodiment, the operation mode can be switched in the order of the wait mode → free mode → lock mode → wait mode according to the state of the force applied by the doctor to the arm A and its duration. For this reason, it is not necessary to operate a switch etc. in order to switch an operation mode, and a doctor can perform an operation smoothly. Moreover, since the three modes are sequentially switched in a one-way manner, it is easy for the doctor to intuitively understand which mode is set as the operation mode of the apparatus, and it is possible to reduce erroneous operations. In the present embodiment, as described above, the end arm 5 can be moved following the arm A without applying much force to the arm A, and the arm A can be easily attached to and detached from the end arm 5. It is extremely easy to operate.

[Fourth Embodiment]
Further, various modes of switching the operation mode are possible as follows. The body support follow-up device 301 of the fourth embodiment shown in FIG. 11 differs from the first embodiment in that a foot switch 90 is connected to the mode determination computer 7, and the processing of the mode determination computer 7 is also illustrated accordingly. The processing is as shown in FIG. In the present embodiment, the foot switch 90 may be replaced with another switch. Also, in FIGS. 11 and 12, the parts configured in the same manner as in the third embodiment are denoted by the reference numerals used in FIGS. 8 and 9, and detailed description of the configuration is omitted.

  As shown in FIG. 12, in this process, after the operation mode is set to the wait mode in S1, as in the third embodiment, it is determined whether or not the foot switch 90 is operated in S12. When the foot switch 90 is not operated (S12: N), the process waits at S12 and the operation mode is maintained in the wait mode set at S1. On the other hand, when the foot switch 90 is operated (S12: Y), the process proceeds to S3, and the operation mode is set to the free mode similar to the first embodiment.

  After the operation mode is set to the free mode, if the state where the speed of the end arm 5 (tip) is 1 mm / s or less continues for 100 ms (S4: Y), the operation mode is set to the lock mode in S5. This is the same as in the third embodiment. However, in this embodiment, when the state does not continue for 100 ms (S4: N), it is determined whether or not the foot switch 90 is operated in S17, and if the foot switch 90 is not operated (S17: N) The process returns to S4. During the loop process consisting of S4 and S17, the operation mode is maintained in the free mode, but before the state continues for 100 ms (S4: N), if the foot switch 90 is operated (S17: Y), The process proceeds to S1 described above, and the operation mode is set to the wait mode.

  On the other hand, when the operation mode is set to the lock mode in S5, in the subsequent S16, the force applied to the end arm 5 (tip) is 1.0 kgf or less or the torque applied to the end arm 5 in the same manner as S6 described above. It is determined whether or not the state of 5.0 kgcm or less continues for 200 ms. And when the said state continues for 200 ms (S16: Y), a process transfers to above-mentioned S3 and an operation mode is set to free mode.

  That is, as described above, the state where the force applied to the terminal arm 5 is 1.0 kgf or less is a state that suggests that the doctor supported the arm A with his / her muscle while trying to move the arm A. In the embodiment, the operation mode is set to the free mode when the state continues. On the other hand, if the state does not continue for 200 ms (S16: N), it is determined whether or not the foot switch 90 has been operated in S18. If the foot switch 90 has not been operated (S18: N), processing is performed. Returns to S16. During the loop processing composed of S16 and S18, the operation mode is maintained in the lock mode. However, before the state continues for 200 ms (S16: N), when the foot switch 90 is operated (S18: Y), The process proceeds to S1 described above, and the operation mode is set to the wait mode.

  When the mode determination computer 7 executes the above processing, the operation mode of the body support follower 301 changes as follows. That is, as shown in FIG. 13, when the foot switch 90 is operated when the operation mode is set to the wait mode (S12: Y), the operation mode is set to the free mode (S3). If the foot switch 90 is operated when the operation mode is set to the free mode or the lock mode (S17: Y or S18: Y), the operation mode is set to the wait mode.

  Further, when the operation mode is set to the free mode and the state where the speed of the end arm 5 (tip) is 1 mm / s or less continues for 100 ms (S4: Y), the operation mode is set to the lock mode ( S5). When the operation mode is set to the lock mode and the state where the force applied to the end arm 5 (tip) is 1.0 kgf or less or the torque is 5.0 kgcm or less continues for 200 ms (S16: Y), the operation is performed. The mode is set to the free mode (S3).

  As described above, in this embodiment, the operation mode can be automatically switched between the free mode and the lock mode according to the state of the force applied to the arm A by the doctor and the duration time thereof, Can be performed smoothly.

  In addition, the state in which the operation mode can be switched between the free mode and the lock mode and the wait mode can be switched by operating the foot switch 90. For this reason, in a scene where the end arm 5 is not desired to move following the arm A, such as when an instrument is taken, or in a scene where the end arm 5 is not desired to move when performing particularly important work, the foot switch It is possible to reliably switch to the wait mode by the operation of 90. In addition, the operation mode is reliably maintained in the wait mode until the foot switch 90 is operated next time, so that a sense of security can be given to the doctor. In the present embodiment, when the foot switch 90 is operated when the operation mode is set to the wait mode, the operation mode may be set to the lock mode.

[Fifth Embodiment]
Next, a fifth embodiment to which the present invention is applied will be described with reference to FIGS. In addition, this embodiment differs in the point which changed the process in the mode determination computer 7 of the body support tracking device 1 comprised similarly to 3rd Embodiment as shown in FIG. Further, in FIG. 14, the portions configured in the same manner as in the third embodiment are denoted by the reference numerals used in FIG. 9, and detailed description thereof is omitted.

  In this embodiment, the threshold value of the force applied to the terminal arm 5 for determining that the doctor supports the arm A with his / her muscle is F3, and the doctor does not place the arm A on the terminal arm 5. The threshold value of the force applied to the end arm 5 for determination is F2, and the threshold value of the force applied to the end arm 5 for determining that the doctor has moved the end arm 5 to follow the arm A is F2. Let it be F1. F1, F2, and F3 preferably satisfy the relationship of own weight of arm A ≧ F1> F3> F2> 0. For example, F1 = 1.5 kgf, F2 = 0.5 kgf, and F3 = 1.0 kgf. it can.

  As shown in FIG. 14, the processing when this processing is executed in the order of S 1 → S 2 → S 3 → S 4 → S 5 is the same as that of the third embodiment. However, after the operation mode is set to the free mode (S3), when the speed of the end arm 5 is 1 mm / s or less (hereinafter referred to as state A) does not continue for 100 ms (S4: N), the end arm Whether or not the arm A is placed on 5 is determined in S27 as follows.

  That is, in S27, the force applied to the end arm 5 (tip) is 0.5 kgf (F2) or less, or the torque (Ty) applied to the end arm 5 is 1.5 kgcm or less corresponding to F2 (hereinafter referred to as “F2”). , State B) is determined for 50 ms. When the state B does not continue for 50 ms (S27: N), the process returns to S4, and the operation mode is maintained in the free mode during the loop process composed of S4 and S27. Then, before the state A continues for 100 ms (S4: N), if the state B continues for 50 ms (S27: Y), the process proceeds to S1, and the operation mode is set to the wait mode.

  On the other hand, when the operation mode is set to the lock mode in S5, in subsequent S26, the force applied to the end arm 5 (tip) is 1.0 kgf (F3) or less, or the end arm 5 is the same as S6 described above. It is determined whether or not the state where the torque (Ty) applied to is not more than 5.0 kgcm corresponding to F3 has continued for 200 ms. And when the said state continues for 200 ms (S26: Y), a process transfers to above-mentioned S3 and an operation mode is set to free mode. In this embodiment as well, as in the fourth embodiment, the state where the force applied to the end arm 5 is 1.0 kgf or less suggests that the doctor supports the arm A with his / her muscles while trying to move the arm A. Therefore, the operation mode is set to the free mode when the state continues. On the other hand, if the state does not continue for 200 ms (S26: N), the process stands by in S26, and the operation mode is maintained in the lock mode set in S5.

  When the mode determination computer 7 executes the above processing, the operation mode of the body support follower 301 changes as follows. That is, as shown in FIG. 15, when the operation mode is set to the wait mode, the state where the force applied to the end arm 5 (tip) is 1.5 kgf (F1) or more or the torque is 5 kgcm or more continues for 100 ms. Then (S2: Y), the operation mode is set to the free mode (S3). When the operation mode is set to the free mode and the state where the speed of the end arm 5 (tip) is 1 mm / s or less continues for 100 ms (S4: Y), the operation mode is set to the lock mode (S5). .

  Further, when the operation mode is set to the lock mode and the state where the force applied to the end arm 5 (tip) is 1.0 kgf or less or the torque is 5.0 kgcm or less continues for 200 ms (S26: Y), the operation is performed. The mode is set to the free mode (S3). Furthermore, when the operation mode is set to the free mode, if the force applied to the end arm 5 (tip) is 0.5 kgf (F2) or less or the torque is 1.5 kgcm or less continues for 50 ms (S27: Y) The operation mode is set to the wait mode (S1).

  As described above, in this embodiment, the operation mode can be automatically switched in order between the wait mode, the free mode, and the lock mode in accordance with the state of the force applied to the arm A by the doctor and the duration time thereof. The operation can be performed smoothly. Moreover, since switching according to the state of the force or the like can be performed from the lock mode to the free mode, the doctor can move the end arm 5 more intuitively and unconsciously. Moreover, since the switching according to the state of the force or the like can be performed from the free mode to the wait mode, the doctor can exchange the appliances and the like more unconsciously and quickly.

[Correspondence with Invention Specific Items and Further Modifications of the Present Invention]
In each of the above embodiments, the arm A is the body part, the end arm 5 is the mounting part, the articulated arm 3 is the support part, the electromagnet 52 is the fixing part, and the soft plastic thin film 61 and the sterilized drape 63 are the thin films. Furthermore, the springs 46 and 47 and the counter weight 48 are used as a balance mechanism, the brakes 31A, 32A and 33A are used as brakes, the encoders 31B, 32B and 33B and the force sensor 45 are used as detection units, and the mode switching button 91 and the foot switch 90 are used as switches. Further, the mode determination computer 7 corresponds to a determination unit and a switching unit, respectively. Of the processes of the mode determination computer 7, the processes of S1, S3 and S5 correspond to the switching means, and the processes of S2, S4, S6, S16, S26 and S27 correspond to the determination means.

  The present invention is not limited to the above embodiments, and can be implemented in various forms without departing from the gist of the present invention. For example, the support unit may support the placement unit so as to be movable only in one direction. Further, the placement surface and the placement surface do not necessarily have to be flat with each other, and may be curved with respect to each other. Furthermore, as the soft thin film, various thin films such as cloth can be used besides plastic. In addition to fixing the magnetic body 57 with the electromagnet 52 as described above, various configurations such as utilization of static electricity and suction by air can be adopted as the configuration of the fixing portion. Whether or not the doctor is trying to move the arm A is determined by detecting the position, speed, or acceleration of the end arm 5 or the contact state between the end arm 5 and the arm A in addition to the force or torque. It may be judged.

DESCRIPTION OF SYMBOLS 1,101,201,301 ... Body support follower 3 ... Articulated arm 5 ... End arm 7 ... Mode determination computer 31, 32, 33, 34, 35 ... Joint 31A, 32A, 33A ... Brake 31B, 32B, 33B ... Encoder 45 ... Force sensor 46 ... Spring 48 ... Counter weight 51 ... Arm folder 51A ... Inclined surface 51B ... Placement surface 52 ... Electromagnet 55 ... Equipment 56 ... Band 57 ... Magnetic body 57A ... Placement surface 61 ... Soft plastic thin film 63 ... Sterile drape 90 ... Foot switch 91 ... Mode switching button A ... Arm

Claims (9)

A body support follow-up device (1, 101, 201, 301) for supporting a worker's body part (A),
A placement portion (5) in which the hard placement surface (57A) of the appliance (55) attached to the body part is placed on the hard placement surface (51B);
A support portion (3) that has at least one joint (31, 32, 33, 34, 35) and bends at the joint to support the placement portion movably,
Provided in the mounting section, by fixing the mounting surface to the mounting surface, the mounting section moves following the movement of the body part and the appliance against resistance applied from the support section. A fixing part (52) to be caused;
A brake (31A, 32A, 33A) for restricting movement of the mounting portion by suppressing bending of at least one of the joints of the support portion;
An operation mode for controlling the fixing unit and the brake, fixing the appliance to the mounting unit by the fixing unit, and releasing the restriction of the movement of the mounting unit by the brake is a free mode, Switching means (7, 7) for switching the operation mode to at least the free mode or the restriction mode, with the operation mode for releasing the fixation of the appliance by the fixing part and restricting the movement of the placement unit by the brake as the restriction mode. S1, S3, S5),
Soft thin films (61, 63) disposed between the mounting surface and the mounting surface;
A body support follower characterized by comprising:   The body support follower according to claim 1, wherein the placement unit has an inclined surface (51 </ b> A) that guides the placement surface of the brace to the placement surface. The fixed portion includes an electromagnet,
A magnetic body (57) is attached to the placement surface of the orthosis,
The body support follower according to claim 1, wherein the thin film is a nonmagnetic thin film.   The body support follow-up device according to claim 1, wherein the thin film is sterilized.   The body support follower according to claim 4, wherein the thin film is a sterilized drape (63) covering the support part. Directly or indirectly exerting a force on the mounting portion, the support portion, or the fixing portion, and the force applied to the mounting portion, the supporting portion, and the fixing portion is directly or directly on the mounting portion. By directly balancing what is acting indirectly, the placement part is directly connected to the placement part among the weight of the placement part, the weight of the fixing part, the weight of the brace, and the weight of the body part. Or a balance mechanism (46, 47, 48) that supports against indirectly acting ones,
The body support follower according to claim 1, further comprising: Switches (90, 91) operated by other body parts of the operator,
In addition,
The body support follow-up device according to claim 1, wherein the switching unit switches an operation mode according to an operation state of the switch. The force applied from the body part and the orthosis to the mounting part or the fixing part, the torque applied from the body part and the orthosis to the mounting part or the fixing part, the acceleration of the mounting part or the fixing part, the front Detecting at least one of the speed of the placement unit or the fixing unit, the position of the mounting unit or the fixing unit, or the contact between the mounting unit or the fixing unit and the body part or the orthosis Detectors (31B, 32B, 33B, 45) to perform,
Judging means (7, S2, S4, S6, S16, S26, S27) for judging whether or not the body part is going to move the mounting part or the fixing part based on the detection result of the detecting part; ,
Further comprising
When the determination means determines that the body part is about to move the placement part or the fixing part, the switching means sets the operation mode to the free mode, and the body part is the placement part or the The body support follow-up device according to claim 6, wherein when the determination unit determines not to move the fixed part, the operation mode is switched to the restriction mode.   The body support follow-up device according to claim 1, wherein the body part is an arm, and the brace is wound around the arm.

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